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<a href="#pub-types">Public Types</a> &#124;
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<div class="title">blmc_robots::Teststand Class Reference</div>  </div>
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<p>The class <a class="el" href="classblmc__robots_1_1Teststand.html" title="The class Teststand is used to control the Teststand robot located at MPI-IS Tuebingen. ">Teststand</a> is used to control the <a class="el" href="classblmc__robots_1_1Teststand.html" title="The class Teststand is used to control the Teststand robot located at MPI-IS Tuebingen. ">Teststand</a> robot located at MPI-IS Tuebingen.  
 <a href="classblmc__robots_1_1Teststand.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="teststand_8hpp_source.html">teststand.hpp</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a201214fc01f68b97ceba62af3fb8cccf"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a201214fc01f68b97ceba62af3fb8cccf"></a>
typedef Eigen::Matrix&lt; double, 2, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a201214fc01f68b97ceba62af3fb8cccf">VectorSlider</a></td></tr>
<tr class="memdesc:a201214fc01f68b97ceba62af3fb8cccf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Data type containing the <a class="el" href="classblmc__robots_1_1Sliders.html">Sliders</a> data. <br /></td></tr>
<tr class="separator:a201214fc01f68b97ceba62af3fb8cccf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a23b0a73bc99ce4a3588204b7480eb6d7"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a23b0a73bc99ce4a3588204b7480eb6d7"></a>
typedef Eigen::Matrix&lt; double, 1, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a23b0a73bc99ce4a3588204b7480eb6d7">VectorContact</a></td></tr>
<tr class="memdesc:a23b0a73bc99ce4a3588204b7480eb6d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">This represents the contact sensor. <br /></td></tr>
<tr class="separator:a23b0a73bc99ce4a3588204b7480eb6d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51f17cf2b01dd8252e21db97b486e067"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a51f17cf2b01dd8252e21db97b486e067"></a>
typedef Eigen::Matrix&lt; double, 3, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a51f17cf2b01dd8252e21db97b486e067">VectorAtiForce</a></td></tr>
<tr class="memdesc:a51f17cf2b01dd8252e21db97b486e067"><td class="mdescLeft">&#160;</td><td class="mdescRight">This type define the forces from the ati-FT sensors. <br /></td></tr>
<tr class="separator:a51f17cf2b01dd8252e21db97b486e067"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a466977786f9b007854fa2eb2a97b0de9"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a466977786f9b007854fa2eb2a97b0de9"></a>
typedef Eigen::Matrix&lt; double, 3, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a466977786f9b007854fa2eb2a97b0de9">VectorAtiTorque</a></td></tr>
<tr class="memdesc:a466977786f9b007854fa2eb2a97b0de9"><td class="mdescLeft">&#160;</td><td class="mdescRight">This type define the torqes from the ati-FT sensors. <br /></td></tr>
<tr class="separator:a466977786f9b007854fa2eb2a97b0de9"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a4747b0754cd3dd669c02f27662baef7e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a4747b0754cd3dd669c02f27662baef7e">Teststand</a> ()</td></tr>
<tr class="memdesc:a4747b0754cd3dd669c02f27662baef7e"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classblmc__robots_1_1Teststand.html" title="The class Teststand is used to control the Teststand robot located at MPI-IS Tuebingen. ">Teststand</a> is the constructor of the class.  <a href="#a4747b0754cd3dd669c02f27662baef7e">More...</a><br /></td></tr>
<tr class="separator:a4747b0754cd3dd669c02f27662baef7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa41ad951a8259fd15e6309e850a6084a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa41ad951a8259fd15e6309e850a6084a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#aa41ad951a8259fd15e6309e850a6084a">initialize</a> ()</td></tr>
<tr class="memdesc:aa41ad951a8259fd15e6309e850a6084a"><td class="mdescLeft">&#160;</td><td class="mdescRight">initialize the robot by setting aligning the motors and calibrate the sensors to 0 <br /></td></tr>
<tr class="separator:aa41ad951a8259fd15e6309e850a6084a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aabb484d65bca5a341dd24abd91c47b9b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aabb484d65bca5a341dd24abd91c47b9b"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#aabb484d65bca5a341dd24abd91c47b9b">send_target_joint_torque</a> (const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt; target_joint_torque)</td></tr>
<tr class="memdesc:aabb484d65bca5a341dd24abd91c47b9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">send_target_torques sends the target currents to the motors <br /></td></tr>
<tr class="separator:aabb484d65bca5a341dd24abd91c47b9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4203e25148ab5b4ddfef3b46647213c6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6">acquire_sensors</a> ()</td></tr>
<tr class="memdesc:a4203e25148ab5b4ddfef3b46647213c6"><td class="mdescLeft">&#160;</td><td class="mdescRight">acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any getter to have up to date data.  <a href="#a4203e25148ab5b4ddfef3b46647213c6">More...</a><br /></td></tr>
<tr class="separator:a4203e25148ab5b4ddfef3b46647213c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a80c9c4483ab006e8001229c109ec7ed7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a80c9c4483ab006e8001229c109ec7ed7">calibrate</a> (std::array&lt; double, 2 &gt; &amp;zero_to_index_angle, std::array&lt; double, 2 &gt; &amp;index_angle, bool mechanical_calibration=false)</td></tr>
<tr class="memdesc:a80c9c4483ab006e8001229c109ec7ed7"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function will run a small controller that will move the joints untils the next joint index and reset the joint zero with this knowledge.  <a href="#a80c9c4483ab006e8001229c109ec7ed7">More...</a><br /></td></tr>
<tr class="separator:a80c9c4483ab006e8001229c109ec7ed7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4897109730380ae0be7da37e2bd69e81"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a4897109730380ae0be7da37e2bd69e81">get_motor_inertias</a> ()</td></tr>
<tr class="memdesc:a4897109730380ae0be7da37e2bd69e81"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_inertias  <a href="#a4897109730380ae0be7da37e2bd69e81">More...</a><br /></td></tr>
<tr class="separator:a4897109730380ae0be7da37e2bd69e81"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a483bc937ac8c95b93bb90c47744da2e8"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a483bc937ac8c95b93bb90c47744da2e8">get_motor_torque_constants</a> ()</td></tr>
<tr class="memdesc:a483bc937ac8c95b93bb90c47744da2e8"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_torque_constants  <a href="#a483bc937ac8c95b93bb90c47744da2e8">More...</a><br /></td></tr>
<tr class="separator:a483bc937ac8c95b93bb90c47744da2e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf08db3dbb4fd8da74c8ef15fb393c1a"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#adf08db3dbb4fd8da74c8ef15fb393c1a">get_joint_positions</a> ()</td></tr>
<tr class="memdesc:adf08db3dbb4fd8da74c8ef15fb393c1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_positions WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data.  <a href="#adf08db3dbb4fd8da74c8ef15fb393c1a">More...</a><br /></td></tr>
<tr class="separator:adf08db3dbb4fd8da74c8ef15fb393c1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd1b325c6039fffbd40198f6deb9542c"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#acd1b325c6039fffbd40198f6deb9542c">get_joint_velocities</a> ()</td></tr>
<tr class="memdesc:acd1b325c6039fffbd40198f6deb9542c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_velocities WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data.  <a href="#acd1b325c6039fffbd40198f6deb9542c">More...</a><br /></td></tr>
<tr class="separator:acd1b325c6039fffbd40198f6deb9542c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae21ac86534e5ee7f15068f94957ba826"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#ae21ac86534e5ee7f15068f94957ba826">get_joint_torques</a> ()</td></tr>
<tr class="memdesc:ae21ac86534e5ee7f15068f94957ba826"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_torques WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data.  <a href="#ae21ac86534e5ee7f15068f94957ba826">More...</a><br /></td></tr>
<tr class="separator:ae21ac86534e5ee7f15068f94957ba826"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0aa762511624791e4ccbec5ad664371f"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a0aa762511624791e4ccbec5ad664371f">get_joint_target_torques</a> ()</td></tr>
<tr class="memdesc:a0aa762511624791e4ccbec5ad664371f"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_torques  <a href="#a0aa762511624791e4ccbec5ad664371f">More...</a><br /></td></tr>
<tr class="separator:a0aa762511624791e4ccbec5ad664371f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7def64b82a1cb58c9ae8c9c54bcaa887"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a7def64b82a1cb58c9ae8c9c54bcaa887">get_joint_gear_ratios</a> ()</td></tr>
<tr class="memdesc:a7def64b82a1cb58c9ae8c9c54bcaa887"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_gear_ratios  <a href="#a7def64b82a1cb58c9ae8c9c54bcaa887">More...</a><br /></td></tr>
<tr class="separator:a7def64b82a1cb58c9ae8c9c54bcaa887"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2fa7aacb213c7898bb04f791ca3687d1"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a2fa7aacb213c7898bb04f791ca3687d1">get_joint_encoder_index</a> ()</td></tr>
<tr class="memdesc:a2fa7aacb213c7898bb04f791ca3687d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_encoder_index WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data.  <a href="#a2fa7aacb213c7898bb04f791ca3687d1">More...</a><br /></td></tr>
<tr class="separator:a2fa7aacb213c7898bb04f791ca3687d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adbceb17de729cced8e9985b9177efa7c"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#adbceb17de729cced8e9985b9177efa7c">get_zero_positions</a> ()</td></tr>
<tr class="memdesc:adbceb17de729cced8e9985b9177efa7c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_zero_positions  <a href="#adbceb17de729cced8e9985b9177efa7c">More...</a><br /></td></tr>
<tr class="separator:adbceb17de729cced8e9985b9177efa7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af46acfc1bd408d40b850c4780e834f53"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#af46acfc1bd408d40b850c4780e834f53">get_slider_positions</a> ()</td></tr>
<tr class="memdesc:af46acfc1bd408d40b850c4780e834f53"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_slider_positions WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data.  <a href="#af46acfc1bd408d40b850c4780e834f53">More...</a><br /></td></tr>
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<tr class="memitem:a0486afbd05d4f7c354ebad8432c178bd"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a932c1319d78144ebcaa8938ae070b784">Vector1d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a0486afbd05d4f7c354ebad8432c178bd">get_contact_sensors_states</a> ()</td></tr>
<tr class="memdesc:a0486afbd05d4f7c354ebad8432c178bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_contact_sensors_states WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data.  <a href="#a0486afbd05d4f7c354ebad8432c178bd">More...</a><br /></td></tr>
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<tr class="memitem:af8a0d1cc608f91a0a752758c7554087a"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#a932c1319d78144ebcaa8938ae070b784">Vector1d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#af8a0d1cc608f91a0a752758c7554087a">get_height_sensors</a> ()</td></tr>
<tr class="memdesc:af8a0d1cc608f91a0a752758c7554087a"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_contact_sensors_states WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data.  <a href="#af8a0d1cc608f91a0a752758c7554087a">More...</a><br /></td></tr>
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<tr class="memitem:a2f912631ee055e3909ef1a5e06d8d27c"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a2f912631ee055e3909ef1a5e06d8d27c">get_max_current</a> ()</td></tr>
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<tr class="memitem:af4bf3a4692fdeacdad78a7213c3fbe98"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="classblmc__robots_1_1Teststand.html#a51f17cf2b01dd8252e21db97b486e067">VectorAtiForce</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#af4bf3a4692fdeacdad78a7213c3fbe98">get_ati_force</a> ()</td></tr>
<tr class="memdesc:af4bf3a4692fdeacdad78a7213c3fbe98"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the ati_force_ object WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data.  <a href="#af4bf3a4692fdeacdad78a7213c3fbe98">More...</a><br /></td></tr>
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<tr class="memitem:a27ba45a099b4ff6852f5acd0226aa915"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="classblmc__robots_1_1Teststand.html#a466977786f9b007854fa2eb2a97b0de9">VectorAtiTorque</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html#a27ba45a099b4ff6852f5acd0226aa915">get_ati_torque</a> ()</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>The class <a class="el" href="classblmc__robots_1_1Teststand.html" title="The class Teststand is used to control the Teststand robot located at MPI-IS Tuebingen. ">Teststand</a> is used to control the <a class="el" href="classblmc__robots_1_1Teststand.html" title="The class Teststand is used to control the Teststand robot located at MPI-IS Tuebingen. ">Teststand</a> robot located at MPI-IS Tuebingen. </p>
<p>The robot is composed of a single leg on a vertical rail. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<p><a class="el" href="classblmc__robots_1_1Teststand.html" title="The class Teststand is used to control the Teststand robot located at MPI-IS Tuebingen. ">Teststand</a> is the constructor of the class. </p>
<p>Motor data</p>
<p>Joint data</p>
<p>Additional data</p>
<p>Setup some known data</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<p>acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any getter to have up to date data. </p>
<p>Joint data</p>
<p>Additional data</p>
<p>Ati sensor readings.</p>

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<p>This function will run a small controller that will move the joints untils the next joint index and reset the joint zero with this knowledge. </p>
<dl class="section return"><dt>Returns</dt><dd>true if success </dd>
<dd>
false if failure </dd></dl>

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<p>Get the ati_force_ object WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data. </p>
<dl class="section return"><dt>Returns</dt><dd>const Eigen::Ref&lt;VectorAtiForce&gt; </dd></dl>

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<p>Get the ati_torque_ object WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data. </p>
<dl class="section return"><dt>Returns</dt><dd>const Eigen::Ref&lt;VectorAtiTorque&gt; </dd></dl>

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<p>get_contact_sensors_states WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data. </p>
<dl class="section return"><dt>Returns</dt><dd>the state of the contacts states </dd></dl>

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<p>get_contact_sensors_states WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data. </p>
<dl class="section return"><dt>Returns</dt><dd>the state of the contacts states </dd></dl>

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<p>get_joint_encoder_index WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data. </p>
<dl class="section return"><dt>Returns</dt><dd>The last observed encoder index in joint coordinates. </dd></dl>

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<p>get_joint_gear_ratios </p>
<dl class="section return"><dt>Returns</dt><dd>the joint gear ratios </dd></dl>

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<p>get_joint_positions WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data. </p>
<dl class="section return"><dt>Returns</dt><dd>the joint angle of each module </dd></dl>

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<p>get_joint_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the target joint torques </dd></dl>

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<p>get_joint_torques WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data. </p>
<dl class="section return"><dt>Returns</dt><dd>the joint torques </dd></dl>

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<p>get_joint_velocities WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data. </p>
<dl class="section return"><dt>Returns</dt><dd>the joint velocities </dd></dl>

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<p>get_max_current </p>
<dl class="section return"><dt>Returns</dt><dd>the max current that has been hardcoded in the constructor of this class. TODO: parametrize this via yaml or something else. </dd></dl>

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<p>get_motor_inertias </p>
<dl class="section return"><dt>Returns</dt><dd>the motor inertias </dd></dl>

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<p>get_motor_torque_constants </p>
<dl class="section return"><dt>Returns</dt><dd>the torque constants of each motor </dd></dl>

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<p>get_slider_positions WARNING !!!! The method <a class="el" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6" title="acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...">acquire_sensors()</a> has to be called prior to any getter to have up to date data. </p>
<dl class="section return"><dt>Returns</dt><dd>the current sliders positions. </dd></dl>

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<p>get_zero_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the position where the robot should be in "zero" configuration </dd></dl>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/workspace/software/workspace/src/catkin/robots/blmc_robots/include/blmc_robots/<a class="el" href="teststand_8hpp_source.html">teststand.hpp</a></li>
<li>/workspace/software/workspace/src/catkin/robots/blmc_robots/src/teststand.cpp</li>
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